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14. ABSOLUTE POSITION DETECTION SYSTEM
(4) At the time of forced stop reset
200ms after the forced stop is deactivated, the base circuit turns on, and further 20ms after that, the
ready (RD
) turns on. Always get the current position data from when the ready (RD ) is triggered
until before the position command is issued.
(a) When power is switched on in a forced stop status
OFF
200ms
ON
OFF
ON
OFF(Invalied)
ON(Valid)
OFF
ON
OFF
ON
20ms
ABS data
During this period, get absolute position data.
Current position change
Power
supply
Base circuit
Pulse train command
Current position
Absolute position
data receive
Absolute position data
command transmission
Servo-on
(SON )
Forced stop
(EMG_ )
Ready
(RD )
(b) When a forced stop is activated during servo on
100ms
ON
OFF
ON(Valid)
OFF(Invalid)
ON
OFF
ON
OFF
20ms
ABS data
Pulse train command
Current position
Absolute position
data receive
Absolute position data
command transmission
Current position change
During this period, get absolute position data.
Base circuit
Servo-on
(SON )
Forced stop
(EMG_ )
Ready
(RD )